JP3201686B2 - Casing driver construction management device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a construction management device for managing a casing construction situation by a casing driver.

[0002]

2. Description of the Related Art FIGS. 11 and 12 show an example of an apparatus for mounting a casing underground. This casing driver is disclosed in JP-A-61-2704.
No. 18 discloses a jack 1 on the ground surface G.
, A lifting frame 3 provided vertically up and down along the vertical guides 2a to 2d at the four corners of the base frame 2, and four bases for driving the lifting frame 3 up and down. Hydraulic thrust cylinders 4a to 4d, a slewing wheel 5 attached to the center of the lifting frame 3, two hydraulic motors 6a and 6b for rotating the slewing wheel 5 around its center line, 5 is provided with a band 7 fitted on the inner periphery of the band 5 and a hydraulic band cylinder 8 which expands and contracts between both ends of the band 7 to increase and decrease the inner diameter of the band 7.

In the above casing driver, when the band cylinder 8 is contracted, the casing C inserted into the inner periphery of the band 7 is tightened so that the casing C can rotate integrally with the turning wheel 5 and can move up and down integrally with the lifting frame 3. When the band cylinder 8 is extended, the band 7 is loosened and the connection between the lifting frame 3 and the turning wheel 5 and the casing C is released. Therefore, the lifting frame 3 is repeatedly raised and lowered while rotating the turning wheel 5, and the lifting frame 3
The casing C is tightened at the time of descending, and the band 7 is repeatedly tightened and released so that the casing C is released when the elevating frame 3 is raised. Can be built into

The number of casings built by the casing driver and the length of each casing are sequentially recorded by an operator. The operator determines the current depth of the casing to be buried based on the record, and performs a middle dig excavation inside the casing C within a range not exceeding the buried depth of the casing by using a middle digging machine such as a hammer grab bucket. When the built-in depth of the casing C reaches the target depth, a reinforced cage is inserted into the casing C, and a toremi tube is inserted into the center thereof, and ready-mixed concrete is poured.
Thereby, a desired pile body is constructed.

[0005]

In the above-mentioned casing installation work, it is not permissible to precede the inside excavation excavation before the installation of the casing C, since this causes collapse of the hole wall and lowering of the reliability of the pile. However, with the above-described method, it is not possible to exclude the possibility of erroneously recognizing the current built-in depth due to erroneous recording of the number or length of the built-in casing C or reading of the record. Measures such as taking records and comparing them with each other are required, which is troublesome. As one means for preventing such an erroneous determination, it is conceivable to attach a scale to the outer periphery of the casing to be built, for example, every 1 m, and to clearly indicate a built-in depth corresponding to each scale in the order in which the casing is built. However, according to this method, when the number of casings to be built increases, the amount of work in advance increases, and labor cannot be eliminated.

[0006] In the above-described installation work by the casing driver, the pressure of the pressure oil supplied to the thrust cylinders 4a to 4d and the hydraulic motors 6a and 6b is increased to apply an excessive pushing force and rotational torque to the casing C. Then, the excavation bit (not shown) attached to the tip of the casing C is abnormally worn or damaged, and the excavation efficiency is significantly reduced. For this reason, the operator is required to operate the thrust cylinder 4a.
4d and the supply pressure to the hydraulic motors 6a and 6b must be monitored with a pressure gauge, and the operation must be continued while judging from what the indicated value indicates how much force the casing is currently built. However, skill was required to grasp the force acting on the casing C from the indicated value of the pressure gauge. Further, in order to prevent abnormal wear and damage of the drill bit, it is necessary to limit the rotation speed of the casing C to a certain value or less to suppress the cutting speed. However, a conventional casing driver detects the rotation speed of the casing C and detects the rotation speed. Therefore, it was difficult to appropriately adjust the cutting speed.

Further, the verticality of the pile is generally evaluated by the eccentricity of the pile with respect to the pile length, that is, the inclination. The conventional inclinometer uses the inclination angle and inclination in the X and Y directions shown in FIG. Since only the direction was displayed, it was necessary to judge from the displayed angle to know the inclination gradient, and it was difficult to confirm the inclination gradient instantaneously.

SUMMARY OF THE INVENTION An object of the present invention is to provide a casing driver construction management device capable of easily and surely grasping the construction situation such as the current casing installation depth and the casing pushing force.

[0009]

FIG. 1 shows an embodiment of the present invention.
This is applied to a casing driver construction management device that repeats the connection and disconnection of the elevating member 3 and the casing C that reciprocate in the direction in which the casing C is built, and builds up the casing C. The above-described object is to connect the lifting member moving amount measuring means 11 for measuring the moving amount of the lifting member 3 in the casing installation direction, and to determine whether the lifting member 3 and the casing C are in a connected state. State determination means 10,
A calculating means for calculating the depth of the casing C based on the movement amount measured by the elevating member movement amount measuring means 11 and the discrimination results of the connection state discriminating means 10 and 20;
And display means 21 for displaying the calculation result of the calculation means 20.

According to the second aspect of the present invention, the arithmetic means 20 calculates the built-in depth of the casing C by integrating the amount of movement of the elevating member 3 when the casing C and the elevating member 3 are connected.

According to the third aspect of the present invention, the connection state determining means 1
Reference numerals 0 and 20 each include a sensor 10 for detecting a distance from a fixed position apart from the outer peripheral surface of the casing C to the outer peripheral surface of the casing C. The casing 10 moves up and down based on a change in the distance information detected by the sensor 10. It is determined whether or not the member 3 is connected.

[0012] Further, a description will be given with reference to Fig. 5 showing one embodiment. The invention of claim 4 is that the hydraulic actuators 4a to 4d, 6a and 6b which give a predetermined erection motion to the casing C and erection the casing. And pressure detecting means 12a, 12b, 13a, 13b for detecting the load pressure. The calculating means 30 calculates the force acting on the casing C based on the detected load pressure.

According to the fifth aspect of the present invention, the pressure detecting means 12
a and 12b detect the load pressure of the hydraulic cylinders 4a to 4d for moving the casing C in the mounting direction, and the calculating means 30 calculates the force in the mounting direction acting on the casing C based on the detected load pressure. .

According to the sixth aspect of the present invention, the pressure detecting means 13
a, 13b are hydraulic motors 6 for rotating casing C
The load means a and 6b are detected, and the calculating means 30 calculates the rotational torque acting on the casing C based on the detected load pressure.

According to a seventh aspect of the present invention, there is provided a tilt detecting means for detecting a value corresponding to the inclination of the casing C with respect to the erection direction, and the calculating means 30 calculates the value of the casing based on the value corresponding to the detected inclination. The slope gradient of C is calculated.

According to the eighth aspect of the present invention, the rotation number detecting means 15 detects a value corresponding to the rotation number of the casing C, and the calculating means 30 calculates the rotation number of the casing C from the value corresponding to the detected rotation number. The above-described object is achieved by providing display means 31 and 33 for displaying the calculation result of the calculation means 30.

According to a ninth aspect of the present invention , the hydraulic actuator 4
a to 4d, 6a and 6b, the casing C
And lift the elevating member 3 around the casing C.
Reciprocating in the retracting direction, and the elevating member 3 and the casing C
Of casing C by repeating connection and disconnection of
Of the casing driver installation management device
It is. The above-described object is to connect the lifting member moving amount measuring means 11 for measuring the moving amount of the lifting member 3 in the casing installation direction, and to determine whether the lifting member 3 and the casing C are in a connected state. State determination means 10, 20
And pressure detecting means 12a, 12b, 13a, which detect the load pressure of the hydraulic actuators 4a to 4d, 6a, 6b.
13b, the inclination detecting means 14 for detecting a value corresponding to the inclination of the casing C with respect to the mounting direction, the rotation number detecting means 15 for detecting a value corresponding to the casing C, and the elevating member moving amount measuring means 11 The casing C based on the movement amount and the determination result of the connection state determination means 10 and 20
Of the built-in depth of the pressure detecting means 12a, 12b, 13
a, the force acting on the casing C based on the load pressure detected by 13b, the inclination gradient of the casing C based on the value detected by the inclination detection means 14 to the value detected by the rotation speed detection means 15, Calculating means 20, 3 for calculating the rotational speed of the casing C based on the
0, display means 31 and 33 for collectively displaying the built-in depth of the casing C calculated by the calculating means 20 and 30, the force acting on the casing C, the inclination gradient of the casing C, and the rotation speed of the casing C. Achieves the above object. Further, according to the tenth aspect of the present invention, the recording means 32 for recording the operation result of the operation means 30 is provided. According to an eleventh aspect of the present invention, the recording means includes a magnetic recording means 32 for recording the operation result on a magnetic recording medium, and a paper recording means 33 for recording the operation result on a recording sheet. According to the twelfth aspect of the invention, the information recorded in the magnetic recording means 32 is recorded in the paper recording means 33 after the installation of the casing C is completed.

[0018]

According to the first aspect of the present invention, the connection state determining means 10,
20, it is determined whether the casing C and the elevating member 3 are in a connected state.
Only the amount of movement of the elevating member 3 during the movement is taken out, and the built-in depth of the casing C can be obtained. According to the second aspect of the present invention, the amount of movement of the elevating member 3 when the elevating member 3 and the casing C are connected by, for example, a band 7 or the like is integrated, and the built-in depth of the casing C is obtained. According to the third aspect of the invention, unless the cross section of the casing C is a perfect circle, the detection distance of the sensor 10 changes according to the movement of the casing. Based on the change in the distance information, it is determined whether the casing C is connected to the elevating member 3 or not.

Further, according to the present invention, the force acting on the casing C is calculated based on the load pressure of the hydraulic actuators 4a to 4d, 6a, 6b detected by the pressure detecting means 12a, 12b, 13a, 13b, The result is displayed on the display means 31, 33. In the invention of claim 5, the hydraulic cylinder 4a detected by the pressure detecting means 12a, 12b
The force in the erection direction acting on the casing C is calculated based on the load pressure of ~ 4d, and the result is displayed on the display means 31,
33 is displayed. In the present invention, the rotational torque acting on the casing C is calculated based on the load pressure of the hydraulic motors 6a, 6b detected by the pressure detecting means 13a, 13b, and the result is displayed on the display means 31, 33. .
According to the invention of claim 7, the inclination gradient of the casing C is calculated based on the value corresponding to the inclination of the casing C with respect to the erection direction detected by the inclination detecting means 14, and the result is displayed on the display means 31, 33. . According to the invention of claim 8, the rotation speed of the casing C is calculated based on the value corresponding to the rotation speed of the casing C detected by the rotation speed detection means 15, and the result is displayed on the display means 31, 33.

According to the ninth aspect of the present invention, the arithmetic means 20, 30
Depth of casing C calculated by
Force acting on the thing C, the inclination gradient of the casing C,
The number of rotations of the thing C is displayed collectively on the display means 31 and 33.
You. Further, according to the tenth aspect of the present invention, the calculation result of the calculation means 30 is recorded in the recording means 32, 33, and the construction status up to the present can be grasped from the record. According to the eleventh aspect of the invention, the operation result recorded on the magnetic recording medium by the magnetic recording unit 32 can be output to the recording paper by the paper recording unit 33 to perform construction management. According to the twelfth aspect , it is possible to perform the construction management by outputting the calculation result during the construction to the recording paper by the paper recording means 33 after the construction.

In the means and means for solving the above problems which explain the constitution of the present invention, the drawings of the embodiments are used for easy understanding of the present invention. However, the present invention is not limited to this.

[0022]

【Example】

First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. In this embodiment, the detection device of the present invention is applied to the casing driver shown in FIGS. 11 and 12 described above. Therefore, the components of the casing driver are denoted by the same reference numerals as in FIGS. 11 and 12, and the description is omitted.

As shown in FIG. 1, in this embodiment, a distance sensor 10 for detecting the displacement of the outer peripheral surface of the casing C and a stroke sensor 11 for detecting the amount of vertical movement of the lifting frame 3 are provided on the base frame 2. Is installed.
As shown in FIG. 2, the distance sensor 10 is disposed to face the outer peripheral surface of the casing C, and outputs a voltage according to the distance L from the outer peripheral surface. As shown in FIG. 1, the output of the distance sensor 10 is stabilized and amplified by an amplifier 101, a high-frequency noise component is removed by a filter 102, converted to a digital signal by an AD converter 103, and guided to a computing unit 20. I will

The stroke sensor 11 is a base frame 2
And a rod 11b abutting on the lower end of the lifting frame 3.
The pushing amount of the rod 11b into the main body 11a is changed in accordance with the elevating operation, and a voltage corresponding to the pushing amount is output. The output of the stroke sensor 11 is stabilized and amplified by the amplifier 111, the high frequency noise component is removed by the filter 112, then converted into a digital signal by the AD converter 113, and guided to the arithmetic unit 20. The arithmetic unit 20 calculates the depth of the casing C built based on the output signals from the AD converters 103 and 113. Arithmetic unit 20
Is displayed on the display 21.
The display 21 is a two-dimensional display of the obtained depth of the building in relation to the elapsed time, and a well-known display means such as a pen recorder or a CRT is used.

FIG. 3A shows an example of the output signal waveform of the stroke sensor 11, and FIG. 3B shows an example of the output signal waveform of the distance sensor 10. The output voltage Vb of the stroke sensor 11 has a minimum value (0 V) when the lifting frame 3 is at the upper end of the moving range, and increases proportionally as the lifting frame 3 moves downward, and the lifting frame 3 reaches the lower end. At this time, it becomes the maximum value Vbmax. Therefore,
The waveform in FIG. 3A shows the rising and falling frame 3 between times 0 and tx.
Descends at a constant speed from the upper end to the lower end, the elevating frame 3 ascends at a constant speed between times tx and tn, and the elevating frame 3 descends at a constant speed between tn and ty. This indicates that the ascending speed is constant.

As is apparent from FIG. 2, the casing C is generally a welded structure, and thus has a substantially elliptical cross section, and has undulations and irregularities on the outer peripheral surface. Further, the casing C is further deformed from a perfect circle by tightening the band 7. For this reason, when the casing C moves with the elevating frame 3 while rotating with the turning wheel 5, the distance L between the outer peripheral surface of the casing C and the distance sensor 10 constantly fluctuates. Therefore, the waveform of FIG.
During the period from ty to ty, the casing C is fastened by the band 7 and moves integrally with the revolving wheel 5 and the lifting frame 3, and the casing C is released from the band 7 after time ty.

Next, the processing procedure in the arithmetic unit 20 will be described with reference to the flowchart of FIG. The illustrated process is started at the start of the installation of the casing C. In the first step S1, the output Va0 of the distance sensor 10 and the output V0 of the stroke sensor 11 at the start of the installation are set as initial values.
Capture b0. In the next step S2, the built-in depth H
Is reset to 0, and a variable n representing the number of times of sampling is set to an initial value 1. In step S3, it is determined whether or not a sampling time tn corresponding to the sampling number n has arrived. Note that the sampling time tn comes every time a predetermined time elapses after the start of the installation of the casing C, and the time is measured by a timer built in the arithmetic unit 20.

If it is determined at step S3 that the sampling time is tn, then at step S4 the distance sensor 1 at that time is determined.
The output Van of 0 and the output Vbn of the stroke sensor 11 are fetched, and in step S5, the difference ΔVa between the output Van of the distance sensor 10 and the previous output Van-1 (= Van-Van-1).
Is calculated. In the following step S6, the absolute value of ΔVa | Δ
It is determined whether or not Va | is greater than a reference value Vc for operation determination, and if it is determined to be greater, the difference Δ between the output Vbn of the stroke sensor 11 and the previous output Vbn-1 is determined in step S7.
Vb (= Vbn-Vbn-1) is calculated. The reference value V
c is set so that the absolute value | ΔVa | may become larger than 0 due to a measurement error due to noise or the like even when the casing C is stopped.

In step S8, the current built-in depth H is calculated by adding the stroke conversion value of ΔVbn obtained this time to the built-in depth H accumulated up to the previous processing.
In step S9, the obtained depth H is displayed on the display 21, and the outputs Van, fetched in step S4 are taken.
The output Vbn is updated as Van-1 and Vbn-1 at the next measurement, and the data of the built-in depth H is updated.
Thereafter, it is determined in step S10 whether or not the building has been completed.
In step 11, 1 is added to the number of samplings n, and the process returns to step S3. If it is determined in step S3 that the sampling time tn has not arrived, it is determined in step S12 whether or not the building has been completed. If it is determined that the building has not been completed, the process returns to step S3 and repeats the determination. When step S10 or step S12 is affirmed, the process ends. When it is determined in step S6 that the absolute value | ΔVa | of ΔVan is equal to or smaller than Vc, the processing in steps S7 and S8 is omitted, and the process proceeds to step S9.

When the above processing is applied to the example of FIG. 3, the following operational effects can be obtained. First, in step S1, the output Va0 of the distance sensor 10 and the output Vb0 (= 0V) of the stroke sensor 11 at time 0 are read. When the first sampling time t1 arrives, ΔVa is calculated from Va1 and Va0 in step S5, step S6 is affirmed because | ΔVa |> Vc, and ΔVb is calculated from Vb1 and Vb0 in step S7. ΔVb is the conventional depth H
(0 for the first time). Hereinafter, | ΔV until time ty
Since a |> Vc, ΔVb is sequentially calculated and added to the built-in depth H. During the period from time tx to tn, ΔVb has a negative value, so that the buried depth H gradually decreases.

If the elapsed time from the start of the installation exceeds ty, the output from the distance sensor 10 becomes constant.
In the subsequent sampling time, ΔVa ≦ Vc, and step S6 is negative. Therefore, the addition of the built-in depth H in step S8 is not performed, and the change ΔVb in the stroke amount after time ty is ignored.

FIG. 3C shows the display 21 by the above processing.
FIG. As is clear from the figure,
Time 0 when casing C is fastened with band 7
During ty, the built-in depth H increases / decreases in conjunction with the output waveform of the stroke sensor 11, and after the time ty when the band 7 is loosened, the built-in depth H becomes constant regardless of the output of the stroke sensor 11. While the casing C is fastened by the band 7, the casing C and the elevating frame 3 move up and down integrally. When the band 7 is loosened, the casing C remains the same even if the elevating frame 3 moves. Since it is held in position, the waveform in FIG. 3 (c) accurately represents the change in the built-in depth of the casing C.

As described above, in this embodiment, only the amount of elevation when the casing C is actually moving up and down is added to the amount of elevation of the elevation frame 3 detected by the stroke sensor 11. The current installation depth of the casing C can be accurately detected, whereby it is possible to reliably prevent the advance of the excavation, and it is possible to omit troublesome recording work for obtaining the installation depth.

Distance sensor 10 and stroke sensor 1
Reference numeral 1 is not limited to the embodiment, and various changes may be made, such as those in which the amplifiers 101 and 111 are unnecessary and those in which displacement is represented by a change in current value. The detection signal may be directly guided to the arithmetic unit 20 using a device that outputs the displacement as a digital signal. If the output of the distance sensor 10 is differentiated by the differentiator and then guided to the arithmetic unit 20, the arithmetic unit 20 does not need to find ΔVa, and the processing load is reduced. The stroke sensor 11 may be a non-contact type, or may be a thrust cylinder 6 having a stroke detection function. Elevating frame 3
The detection of the connection state of the casing C and the casing C can be variously changed, for example, by detecting a change in the tightening force of the casing C by the band 7 or detecting whether the casing C is moving in the axial direction. However, if the displacement of the outer peripheral surface of the casing C is directly monitored as in the embodiment, it is possible to detect a state in which the casing C slips and the erection does not proceed even if the tightening force of the band 7 is high. The detection accuracy is further improved. A plurality of distance sensors 10 may be provided to compare the signals of each other and determine the movement of the casing C.

In correspondence between the above embodiment and the claims,
The elevating frame 3 is an elevating member, the stroke sensor 11 is an elevating member moving amount detecting means, the distance sensor 10 and the arithmetic unit 20 are connection state determining means, and the arithmetic unit 20 is
The display means 21 and 22 constitute the calculating means of claim 3 and the display means of claim 1.

Second Embodiment A second embodiment will be described with reference to FIGS. The same parts as those in the first embodiment shown in FIGS. 1 to 4 are denoted by the same reference numerals, and description thereof will be omitted. As shown in FIG. 5, in this embodiment, a pressure sensor 12a, 12b is provided in any one of the thrust cylinders 4a to 4d for the rod side hydraulic circuit and the bottom chamber side hydraulic circuit, and one of the inlets of the hydraulic motors 6a, 6b. Pressure sensors 13a and 13b are attached to the side hydraulic circuit and the outlet side hydraulic circuit, respectively. Although the supply direction of the pressure oil to the hydraulic motors 6a and 6b changes according to the rotation direction of the motor, the inlet side and the outlet side are defined based on the forward rotation for convenience. Pressure sensors 12a, 12
b, 13a, and 13b each output a voltage signal corresponding to the pressure of the circuit to which they are connected. These output signals are stabilized and amplified by amplifiers 121a, 121b, 131a, and 131b, respectively, and are output from filters 122a, 122a.
The high frequency noise components are removed by the 22b, 132a, 132b and the AD converters 123a, 123b, 133
The digital signals are converted into digital signals at a and 133b and guided to the arithmetic unit 30.

In the elevating frame 3, the inclination angle of the casing C with respect to the elevating direction of the elevating frame 3 is detected in two directions (shown as x and y directions in FIG. 11) orthogonal to each other in the plane of rotation of the turning wheel 5. And a rotation sensor 15 that outputs a pulse signal having a cycle corresponding to the number of rotations of the turning wheel 5 are attached. From the inclination sensor 14, voltages corresponding to the inclination angles of the casing C in the two directions described above are output in parallel. These output signals are supplied to the amplifier 1
At 41, the stabilization process and the amplification are performed, and the filter 14
After the high-frequency noise component is removed in 2, the signal is converted into a digital signal by the AD converter 143 and guided to the arithmetic unit 30. The pulse signal output from the rotation sensor 15 is guided to the counter 16, and the integrated value of the counter 16 is guided to the calculator 30 as a digital signal.

The output signals of the distance sensor 10 and the stroke sensor 11 are guided to the arithmetic unit 30 through AD converters 103 and 113. The computing unit 30 computes the depth of the casing C based on the output signals of the distance sensor 10 and the stroke sensor 11, and
Based on the output signals of the pressure sensors 12a and 12b, the pushing force F1 and the pulling force F2 of the casing C, the load per drilling bit (hereinafter, referred to as bit load) F3 attached to the tip of the casing C, and the casing C. The frictional force f acting between the casing C and the ground is calculated, the rotational torque T acting on the casing C is calculated based on the output signals of the pressure sensors 13a and 13b, and the rotation torque T of the casing C is calculated based on the output signal of the inclination sensor 14. The inclination gradient is calculated, and the rotation speed N of the casing C is calculated based on the integrated value of the counter 16.

Here, a method of calculating each of the above physical quantities by the arithmetic unit 30 will be described with reference to FIG. It should be noted that the rotation speed N can be obtained by converting the integrated value of the counter 16 within a certain period of time, so that the details are omitted. Rotary torque T Hydraulic motor 6a detected by pressure sensors 13a and 13b
Assuming that the inlet pressure of (or 6b) is Pi, the outlet pressure is Po, and the number of hydraulic motors is Nm (2 in the embodiment), the rotational torque T is given by the following equation (1).

T = | Pi-Po | · km · Nm (1) Here, km is a known coefficient determined from the mechanical efficiency of the hydraulic motor, the gear reduction ratio, and the like. Taking the absolute value of the difference between the inlet pressure Pi and the outlet pressure Po takes into account the reverse rotation of the hydraulic motor.

Pulling force F2 The pressure receiving area of the piston of the thrust cylinders 4a to 4d (4a in FIG. 6) on the rod chamber side is Ar, the pressure receiving area on the bottom chamber side is Ab, and the thrust cylinder 4a detected by the pressure sensors 12a and 12b. Assuming that the rod pressure is Pr, the bottom pressure is Pb, and the number of thrust cylinders is Nc (4 in the embodiment), the total thrust Fs of the four thrust cylinders 4a to 4d
Is given by the following equation (2).

Fs = | Ab · Pb−Ar · Pr | · Nc (2) When the lifting frame 3 moves up and the casing C is pulled out from the ground, the detection values of the pressure sensors 12a and 12b are calculated by the above formula. When the total thrust Fs is obtained by substituting the value into (2), that value becomes the pulling force F2.

Pushing force F1, Bit load F3 The total thrust of the four thrust cylinders 4a to 4d when the lifting frame 3 is lowered and the casing C is pushed into the ground is determined by the operation of the thrust cylinders 4a to 4d. Assuming that the weight of the portion that moves up and down (from the lifting frame 3 to the casing C) is W, the casing C has a total thrust F
Since s1 and own weight W work downward and frictional force f works upward,

F1 = Fs1 + Wf (3)

Here, the casing C is tightened by the band 7 (see FIG. 11) and connected to the lifting frame 3, and the lifting frame 3 is connected to the thrust cylinders 4a to 4d.
Let's consider a state in which the robot is stationary and supported (hereinafter, this operation is called a holding operation). At the time of the holding operation, the sum of the force of the thrust cylinders 4a to 4b pushing the casing C upward and the frictional force f is considered to be suspended with the above-described weight W. Therefore, the total thrust of the thrust cylinders 4a to 4d at this time is calculated. If Fs2,

Fs2 = Wf (4) By substituting equation (4) into equation (3),

F1 = Fs1 + Fs2 (5) Assuming that the number of drill bits is Nb, the bit load F3 is

F3 = F1 / Nb (6)

The total thrusts Fs1 and Fs2 are obtained by the pressure sensors 12a and 12a during the pushing operation and the holding operation of the casing C.
It can be obtained by substituting the detection value of 12b into the equation (2). Since the total thrust Fs2 during the holding operation cannot be obtained while the casing C is being pushed, the value is recorded in the built-in memory of the calculator 30 each time the holding operation is performed and the total thrust Fs2 is calculated. , And its value to (5)
Used in formula operations.

Friction force f Since the above-described pulling force F2 of the casing C is considered as the sum of its own weight W and the friction force f,

F2 = W + f (7) If W is eliminated from equations (4) and (7),

F = (F2−Fs2) / 2 (8) The drawing force F2 is obtained by substituting the detection values of the pressure sensors 12a and 12b during the drawing operation of the casing C into the equation (2), and The thrust Fs2 is the pressure sensor 12 during the holding operation.
It can be obtained by substituting the detected values of a and 12b into equation (2).
As soon as these values are known, the frictional force f is also known. Since the pulling force F2 and the total thrust Fs2 during the holding operation cannot be obtained at the same time, each time they are calculated, their values are stored in the built-in memory of the calculator 30, and the values are used in the calculation of the equation (8). use.

Inclination gradients The inclination angles in the x and y directions detected by the inclination sensor 14 in the n-th sampling are θ _xn and θ _yn , respectively.
Then, the arithmetic unit 30 calculates the moving average values α _xn and α _yn of the inclination angles from the first sampling to the n-th sampling by the exponential smoothing method as shown in the following table.

[Table 1] ρ is a constant appropriately set between 0 and 1. Inclination angle alpha _n of piles is determined by the following equation.

Α _n = √ ((α _xn ) ² + (α _yn ) ² ) (9) In this embodiment, 1 / tan α _n is defined as a gradient.

Referring to FIG. 5, a monitor 31, a magnetic recording device 32 and a printer 33 using a CRT or a liquid crystal panel are connected to the arithmetic unit 30, respectively. An input device 34 for inputting a selection command and various data is connected. The arithmetic unit 30 calculates various physical quantities by the above-described method during the construction of the casing C, creates image data corresponding to the calculation results, outputs the image data to the monitor 31, and displays the calculated various physical quantities in an image. . FIG. 7 shows an example of an image displayed during the construction. In this image, the built-in depth of the casing C, the rotational torque, the number of revolutions, the pushing force, the bit load, and the pulling force are displayed in a numerical value and a bar graph, and the frictional force between the casing C and the ground and the casing C Is displayed numerically.

The magnetic recording device 32 converts the operation result output from the arithmetic unit 30 into magnetic information and records it on a magnetic recording medium. When the output of the calculation result of the specific physical quantity is instructed from the input device 34 after the completion of the construction of the casing C, the calculation device 3
0 indicates the data relating to the commanded physical quantity in the magnetic recording device 3.
2 and output to the monitor 31 and the printer 33. When an output of a graph showing a correlation between a plurality of physical quantities is instructed by the input unit 34, the arithmetic unit 3
0 reads data corresponding to the selected physical quantity from the magnetic recording device 32 to create image data for graph display, and outputs the image data to the monitor 31. At this time, when the output from the input device 34 to the printer 33 is also instructed, the calculator 30 creates print data necessary for printing the data read from the magnetic recording device 32 in a graph format, and prints the print data. The data is output to the printer 33. The printer 33 prints a graph having the same contents as displayed on the monitor 31 on recording paper based on the input print data. FIG. 8 shows an example of a graph output by the monitor 31 and the printer 33 after construction. FIG. 8 (a) graphically shows the change in the erection depth with respect to the elapsed time of the erection work, and FIG. 8 (b) shows the rotation speed, rotational torque, pushing force, pulling force, and the like of the casing with respect to the erection depth.
The change of the bit load is displayed in a graph. Input device 34
Then, the physical quantities on the vertical and horizontal axes of these graphs are specified.
The elapsed time of the work is sequentially measured during construction by a clock provided in the arithmetic unit 30, and is recorded in the magnetic recording device 32 together with the various calculated values described above.

Next, a data processing procedure of the arithmetic unit 30 during the construction of the casing C will be described with reference to FIGS. Note that, in the flowchart shown in FIG.
Steps S28 to S28 correspond to steps S1 to S8 in FIG.
Step S42 determines whether or not to repeat the calculation.
This is a process corresponding to steps S10 to S12, and in steps S21 and S24, in addition to the outputs of the distance sensor 10 and the stroke sensor 11, the pressure sensors 12a, 12b, 13a, 13b, the inclination sensor 14, and the rotation sensor The only difference from the processing in FIG. Therefore, the description of these steps is omitted, and the features of the present embodiment will be described below.

The arithmetic unit 30 of the present embodiment performs the processing in step S21.
After calculating the built-in depth H by the processing of steps S28 to S28, the distance sensor 10 previously measured in step S29 is used.
ΔVb between the output voltage of the sensor and the output voltage measured this time
It is determined whether or not (calculated in step S27) is 0. 0
If not, the process proceeds to step S30 to determine whether ΔVb is a positive value. If it is a positive value, the process proceeds to step S31,
The outputs of the pressure sensors 12a and 12b are substituted into the above equation (2) to obtain the total thrust Fs1 of the equation (5), and based on this value and the total thrust Fs2 stored in the built-in memory of the arithmetic unit 30, ( The pushing force F1 of the casing C and the bit load F3 are calculated by the expressions 5) and (6). Step S
If it is determined in step 30 that ΔVb is not positive, step S
At 32, the outputs of the pressure sensors 12a and 12b are substituted into the above-described equation (2) to calculate the pulling force F2 of the casing C, and the pulling force F2 calculated at step S33 and stored in the internal memory of the calculator 30. The friction force f is calculated by the equation (8) based on the total thrust Fs2 thus obtained.

When it is determined in step S29 that .DELTA.Vb = 0, the flow advances to step S34 to determine whether or not the output voltage Vb of the stroke sensor 11 is less than the maximum value Vbmax (see FIG. 3) corresponding to the lower limit position of the lifting frame 3. to decide. If it is less than the maximum value Vbmax, the process proceeds to step S35, and the total thrust F of the thrust cylinders 4a to 4d during the holding operation
s2 (see equations (4) and (5)) is calculated by equation (2). After step S35, the process proceeds to step S33, where the friction force f is calculated from the calculated total thrust Fs2 and the pulling force F2 stored in the built-in memory.

After the processing in steps S31 and S33 is completed, and in step S34, Vb is set to the maximum value V
When it is determined that it is equal to or greater than bmax, the process proceeds to step S36, where the rotational torque T is calculated by the equation (1) based on the outputs of the pressure sensors 13a and 13b, and the rotational speed N of the casing C is calculated based on the integrated value of the counter 16. And the tilt sensor 14
The slope gradient 1 / tanα _n is calculated based on the output of.

In a succeeding step S37, the calculated embedding depth H, pushing force F1, pulling force F2, bit load F3, friction force f, rotation torque T, rotation speed N and inclination gradient 1 / ta are calculated.
The monitor 31 displays nα _n . After this step S
At 38, the physical quantity calculated at the current sampling time tn is recorded in the magnetic recording device 32. Subsequent step S39
Then, the outputs Van and Vbn of the distance sensor 10 and the stroke sensor 11 taken in step S24 are updated as Van-1 and Vbn-1 used in the next calculation, and the data of the built-in depth H is updated. Further, the data of the pulling force F2 and the total thrust Fs2 during the holding operation stored in the built-in memory of the calculator 30 are updated to the latest data calculated this time, and the moving average values α _xn and α _yn of the inclination angle are updated in the next time. The _values are updated as α _xn-1 and α _yn-1 used in the calculation. In addition,
Of the pulling force F2 and the total thrust Fs2 during the holding operation, the value not calculated at the current sampling time tn is not updated, and the value is calculated in the internal memory of the calculator 30 at the time point closest to the sampling time tn. The value is retained. After the processing of step S39, step S40
Then, determine whether the building is completed.

According to the above processing, the stroke sensor 1
In the pushing operation of the casing C in which the change amount ΔVb of the output voltage Vb of 1 is positive, step S29 is denied and step S30 is affirmed, and the pushing force F1 and the bit load F3 are calculated. When the casing C is pulled out, step S30 is negative and the pulling force F2 is calculated, and the latest frictional force f is calculated based on the value. Further, during the holding operation of the casing C, the amount of change ΔVb of the output voltage Vb of the stroke sensor 11 becomes 0, so the result at step S29 is affirmative, and the result at step S34 is affirmative unless the lifting frame 3 is located at the lower limit. Fs2 is calculated, and the latest frictional force f is calculated based on the value. The reason that the step S34 is provided so that the total thrust Fs2 is not calculated when the lifting frame 3 is at the lower limit is that the band 7 is loosened when the lifting frame 3 is at the lower limit, and the casing C is released from the lifting frame 3. That is because Even if the own weight W is unknown, the pushing force F1, the pulling force F2, and the bit load F3 are calculated. Therefore, even when a plurality of casings C are added and the construction is continued, the own weight is added each time the casing C is added. No need to enter.

As described above, in this embodiment, the depth of the nesting H of the casing C, the pushing force F1, the pulling force F2, the bit load F3, the rotational torque T, the rotational speed N, and the gradient 1 / t
monitor anα _n and frictional force f during construction of casing C
Since the batch display is performed at 1, the construction status can be easily and reliably grasped even by a non-skilled worker. Since data during construction can be read from the magnetic recording device 32 after construction and output to the monitor 31 and the printer 33, pile construction management can be easily performed. Also, the magnetic recording device 3
2 and the calculation result is recorded by the printer 33,
Even if the display on the monitor 31 is not constantly monitored, the construction status up to the present can be reliably grasped. Further, since the data is stored in the magnetic recording medium by the magnetic recording device 32, the printer 33
Even if the recording paper runs out halfway, data can be reliably stored. Further, by outputting only necessary data from the data recorded by the magnetic recording device 32 by the printer 33, recording paper can be saved.

In this embodiment, the pressure sensor 12
The a, 12b, 13a, 13b and the inclination sensor 14 can be variously changed, for example, those that do not require an amplifier and those that show displacement by changes in current value. A sensor that outputs displacement as a digital signal may be used, and the output may be directly led to the arithmetic unit 30. The display on the monitor 31 illustrated in FIG. 7 can be variously changed, for example, by replacing the bar graph with a pie graph. The inclination gradient of the casing C may be calculated using another method instead of the exponential smoothing method.

[0056] In correspondence of this embodiment and the claims, the pressure sensor 12a, 12b is claim 4, claim 5 and claim
The pressure detecting means of claim 9 , the pressure sensors 13 a, 13 b are the pressure detecting means of claim 4, 6, and 9 , the inclination sensor 14 is the inclination detecting means of claim 7, and the rotation sensor 15 is claim. The rotational speed detecting means of the eighth aspect, the arithmetic unit 30 is the arithmetic means of the first to ninth aspects, the monitor 31 and the printer 33
The but display means of claims 1 to 9, the magnetic recording device 32
The printer 33 constitutes the recording means of claim 10 , the magnetic recording device 32 constitutes the magnetic recording means of claim 11 , and the printer 33 constitutes the paper recording means. Further, the thrust cylinders 4a to 4d are provided with hydraulic motors 6a and 6d for the hydraulic actuators of claims 4 and 9 and the hydraulic cylinder of claim 5 respectively.
“b” corresponds to the hydraulic actuator of claims 4 and 9 and the hydraulic motor of claim 6.

As described above, according to the first aspect of the present invention, only the amount of movement of the elevating member when the elevating member is moving the casing can be taken out to accurately detect the depth of the casing. There is no risk of erroneously grasping the depth of the erection and prematurely digging, thereby improving the reliability of construction. There is no need to record the construction status or write the scale in advance in order to determine the depth of erection. According to the second aspect of the present invention, the amount of movement of the elevating member when the elevating member is connected to the casing is integrated, and the installation depth of the casing is accurately detected. According to the third aspect of the present invention, it is possible to accurately know whether or not the casing is moving based on the displacement of the outer peripheral surface of the casing, and the detection accuracy of the built-in depth is improved. According to the fourth aspect of the present invention, since the force acting on the casing is displayed on the display means, there is no need to estimate the force acting on the casing from the load pressure of the hydraulic actuator, and even an unskilled person can easily apply the force acting on the casing. In addition, it is possible to reliably grasp and prevent abnormal wear and damage of the drill bit due to overload.
According to the fifth aspect of the present invention, since the force acting on the casing in the erection direction is displayed on the display means, it is possible to prevent abnormal wear and damage of the drill bit due to excessive pushing force. Claim 6
According to the invention, since the rotating torque acting on the casing is displayed on the display means, abnormal wear and damage of the excavation bit due to excessive rotating torque can be prevented. According to the seventh aspect of the present invention, since the inclination of the casing is displayed on the display means, it is possible to easily manage the vertical accuracy of the pile, and it is possible to easily control the vertical accuracy even if the operator is not a skilled worker. Piles can be constructed. According to the eighth aspect of the present invention, since the rotating speed of the casing is displayed on the display means, the cutting speed of the excavation bit can be suppressed to an appropriate range, and abnormal wear and damage thereof can be prevented. According to the ninth aspect of the present invention, the erection depth of the casing,
The force acting on the casing, the inclination of the casing,
Since the rotation speed of the sing is displayed on the display unit,
You can easily and reliably grasp the construction status of the shing
You. In the invention of claim 10 , since the construction status can be recorded,
It is possible to reliably grasp the change in the construction status up to the present without always checking the display of the calculation result that changes sequentially during the construction. According to the eleventh aspect of the present invention, since the calculation result is recorded on the magnetic recording medium, when necessary, the desired data can be output to the recording paper to check the construction status, and all the data can be output to the recording paper. In addition to saving the recording paper, the construction status can be grasped even if the recording paper is lost. The invention of claim 12
Then, the calculation result during construction is recorded on paper
Can be output to the
Various data inside can be examined in detail after construction.

[Brief description of the drawings]

FIG. 1 is a diagram showing a schematic configuration of a construction management device according to a first embodiment of the present invention.

FIG. 2 is a plan view showing a positional relationship between a distance sensor 10 and a casing C in FIG.

FIG. 3 is a diagram showing a relationship between output waveforms from sensors 10 and 11 in FIG. 2 and a built-in depth output from a calculator 20;

FIG. 4 is a flowchart showing a processing procedure in a computing unit 20 in FIG. 1;

FIG. 5 is a diagram showing a schematic configuration of a construction management device according to a second embodiment of the present invention.

FIG. 6 is a diagram for explaining a method of measuring a physical quantity in the device of the second embodiment.

FIG. 7 is a view showing a display example during construction of a monitor 31 provided in the construction management apparatus of FIG. 5;

FIG. 8 is a view showing a display example after construction of a monitor 31 and a printer 33 provided in the construction management apparatus of FIG. 5;

FIG. 9 is a flowchart showing a data processing procedure during construction by the arithmetic unit 30 in FIG. 5;

FIG. 10 is a flowchart following FIG. 9;

FIG. 11 is a plan view showing an example of a casing driver.

FIG. 12 is a side view of the casing driver of FIG.

[Explanation of symbols]

 Reference Signs List 3 Elevating frame 4a, 4b, 4c, 4d Thrust cylinder 5 Revolving wheel 6a, 6b Hydraulic motor 7 Band 10 Distance sensor 11 Stroke sensor 12a, 12b, 13a, 13b Pressure sensor 14 Tilt sensor 15 Rotation sensor 20, 30 Calculator 21, 22 display 31 monitor 32 magnetic recording device 33 printer

────────────────────────────────────────────────── ─── Continuation of the front page (56) References JP 5-126574 (JP, A) JP 5-133746 (JP, A) JP 5-163727 (JP, A) JP 4- 238993 (JP, A) JP-A-4-118422 (JP, A) JP-A-4-38321 (JP, A) JP-A-5-14228 (JP, U) JP-A-4-99725 (JP, U) (58) Fields surveyed (Int. Cl. ⁷ , DB name) E02D 13/06 E02D 7/20 E02D 7/22

Claims (12)

(57) [Claims] 1. A casing driver construction management device which repeats connection and disconnection of an elevating member and a casing reciprocating in a direction in which the casing is installed, and rebuilds the casing. An elevating member moving amount measuring means for measuring an amount of movement in a retracting direction; a connection state determining means for determining whether the elevating member and the casing are in a connected state; and the elevating member moving amount measuring means measuring Calculating means for calculating the built-in depth of the casing based on the amount of movement to be performed and the determination result of the connection state determining means, and display means for displaying the calculation result of the calculating means. Casing driver construction management device. 2. The apparatus according to claim 1, wherein said calculating means calculates a built-in depth of said casing by integrating an amount of movement of said elevating member when said casing and said elevating member are connected. An installation management device for the casing driver described in the above. 3. The connection state determining means includes a sensor for detecting a distance from a fixed position apart from the outer peripheral surface of the casing to an outer peripheral surface of the casing, and based on a change in distance information detected by the sensor. The installation management device for a casing driver according to claim 1 or 2, wherein the controller determines whether the casing and the elevating member are in a connected state. 4. A predetermined embedding motion is applied to said casing.
And a pressure detector for detecting a load pressure of the hydraulic actuator.
And means for calculating the force acting on the casing based on the detected load pressure. 5. The construction management of a casing driver according to claim 1, wherein: apparatus. 5. The pressure detecting means detects a load pressure of a hydraulic cylinder for moving the casing in a mounting direction, and the calculating means detects a load pressure acting on the casing based on the detected load pressure. The construction management device for a casing driver according to claim 4, wherein the force is calculated. 6. The pressure detecting means detects a load pressure of a hydraulic motor for rotating the casing, and the calculating means calculates a rotational torque acting on the casing based on the detected load pressure. Claim 4
Or a construction management device for a casing driver according to claim 5. 7. An inclination of the casing with respect to a mounting direction.
Comprising a tilt detecting means for detecting a value corresponding to come, the calculating means, based on the value corresponding to the detected inclination
Calculating the inclination gradient of the casing by using
An installation management device for a casing driver according to any one of claims 1 to 6 . 8. A casing driver installation management device for installing a casing while rotating the casing around the axis thereof, wherein the rotational speed detecting means detects a value corresponding to the rotational speed of the casing; A construction management apparatus for a casing driver, comprising: computing means for computing a rotation speed of the casing from a value; and display means for displaying a computation result of the computing means. 9. The casing is moved by a hydraulic actuator.
Rotate it around its axis to mount the elevating member on the casing.
Reciprocating in the direction of the
Repeat connection and disconnection to build the casing.
There in construction management apparatus casing driver to perform write
Te, total the amount of movement in the casing like an anchor direction of the elevation member
An elevating member movement amount measuring means for measuring, and whether or not the elevating member and the casing are in a connected state.
Connection state determining means for determining whether or not the pressure is greater than the pressure of the hydraulic actuator.
Means , corresponding to the inclination of the casing relative to the mounting direction.
Inclination detection means for detecting a value, and rotation number detection means for detecting a value corresponding to the casing
The moving amount measured by the elevating member moving amount measuring means
The casing based on the determination result of the connection state determination means.
Of the built-in depth is detected by the pressure detecting means.
The force acting on the casing based on the applied load pressure,
Based on the value detected by the inclination detecting means,
The inclination gradient of the casing is determined by the rotation speed detecting means.
The rotation speed of the casing is calculated based on the detected value.
Calculating means for calculating each of them, and mounting of the casing calculated by the calculating means
Depth, force acting on the casing, inclination of the casing
Display means for collectively displaying the arrangement and the number of rotations of the casing.
An installation management device for a casing driver. 10. A record for recording a calculation result of said calculation means.
10. A method according to claim 1, wherein means is provided.
The casing driver construction management device according to item 1 . 11. The recording means according to claim 1, wherein the calculation result is a magnetic recording medium.
Magnetic recording means for recording on the body
And a paper recording means for recording.
0. An installation management device for a casing driver according to 0. 12. The information recorded on said magnetic recording means is stored
Recorded in the paper recording means after completion of the installation of the casing
The construction management device for a casing driver according to claim 11, wherein: